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Proceedings Papers

Modular Robot Connection Design

Robert O. Ambrose, Delbert Tesar
Proc. ASME. DETC92, 4th Conference on Flexible Assembly Systems, 41-48, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0445
https://doi.org/10.1115/DETC1992-0445
View Paper titled, Modular Robot Connection Design
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Topics: Design, Robots, Manufacturing, Fittings, Maintenance, Robotics
Proceedings Papers

Force and Stiffness Transmission in Redundantly Actuated Mechanisms: The Case for a Spherical Shoulder Mechanism

Byung-Ju Yi, Robert A. Freeman, Delbert Tesar
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 163-172, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0211
https://doi.org/10.1115/DETC1992-0211
View Paper titled, Force and Stiffness Transmission in Redundantly Actuated Mechanisms: The Case for a Spherical Shoulder Mechanism
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Topics: Stiffness, Degrees of freedom, Design, Tradeoffs
Proceedings Papers

Characterization of Robotic Operations for Dual-Arm Robots With Cooperating Manipulators

Daniel J. Cox, Delbert Tesar
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 445-453, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0244
https://doi.org/10.1115/DETC1992-0244
View Paper titled, Characterization of Robotic Operations for Dual-Arm Robots With Cooperating Manipulators
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Topics: Manipulators, Robotics, Robots, Actuators, Redundancy (Engineering), Stress, Intelligent machines, Trajectories (Physics)
Proceedings Papers

Computer Considerations for Advanced Robotics

Chetan Kapoor, Nathan Pettus, Rich Hooper, Delbert Tesar
Proc. ASME. DETC-CIE96, Volume 5: 5th Flexible Assembly Conference, V005T05A015, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/FAS-1634
https://doi.org/10.1115/96-DETC/FAS-1634
View Paper titled, Computer Considerations for Advanced Robotics
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Topics: Computers, Robotics, Control equipment, Hardware, Computer software, Design, Flexible manufacturing systems, Intelligent machines, Machinery, Manufacturing
Proceedings Papers

Performance Based Redundancy Resolution With Multiple Criteria

Chetan Kapoor, Murat Cetin, Delbert Tesar
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A018, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5864
https://doi.org/10.1115/DETC98/MECH-5864
View Paper titled, Performance Based Redundancy Resolution With Multiple Criteria
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Topics: Redundancy (Engineering), Resolution (Optics), Kinematics, Computer software, Decision making, Degrees of freedom, Manipulators, Real-time control
Proceedings Papers

Kinematic Abstractions for General Manipulator Control

Chetan Kapoor, Delbert Tesar
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 315-326, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8671
https://doi.org/10.1115/DETC99/DAC-8671
View Paper titled, Kinematic Abstractions for General Manipulator Control
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Topics: Computer software, Kinematics, Manipulators
Proceedings Papers

Survey of Available Sensor Technology for Robotic Hands

Amit V. Upasani, Chetan Kapoor, Delbert Tesar
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 437-443, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8656
https://doi.org/10.1115/DETC99/DAC-8656
View Paper titled, Survey of Available Sensor Technology for Robotic Hands
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Topics: Robotics, Sensors
Proceedings Papers

Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models

Mitch Pryor, Matthew Van Doren, Delbert Tesar
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 297-305, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8651
https://doi.org/10.1115/DETC99/DAC-8651
View Paper titled, Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models
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Topics: Kinematics, Manipulators, Design, Optimization, Redundant manipulators, Computation, Computers, Control algorithms, Cycles, Trajectories (Physics)
Proceedings Papers

Experimental Evaluation of a Criteria-Based Obstacle Avoidance Scheme

Troy Harden, Chetan Kapoor, Delbert Tesar
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1527-1533, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8657
https://doi.org/10.1115/DETC99/DAC-8657
View Paper titled, Experimental Evaluation of a Criteria-Based Obstacle Avoidance Scheme
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Topics: Collisions (Physics), Computer software, Degrees of freedom, End effectors, Manipulators, Modeling, Optimization, Redundancy (Engineering), Redundant manipulators, Resolution (Optics)
Proceedings Papers

Algebraic Reduction for Mechanical Design

Thomas Robert Waskow, II, Delbert Tesar
Proc. ASME. DETC99, Volume 3: 11th International Conference on Design Theory and Methodology, 307-316, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DTM-8770
https://doi.org/10.1115/DETC99/DTM-8770
View Paper titled, Algebraic Reduction for Mechanical Design
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Topics: Algebra, Design engineering, Design, Kinematics, Manipulators, Nonlinear equations
Proceedings Papers

Design of Actuator Endurance and Reliability Testbed

Seong-Ho Kang, Daniel J. Cox, Delbert Tesar
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 995-1003, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14160
https://doi.org/10.1115/DETC2000/MECH-14160
View Paper titled, Design of Actuator Endurance and Reliability Testbed
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Topics: Actuators, Design, Reliability, Robots, Testing performance
Proceedings Papers

Visual Performance Maps for Human Choice in Hybrid Electric Vehicle’s In-Wheel Motors: Part II — Operation, Maintenance, and Refreshment Criteria

Hoon Lee, Pradeepkumar Ashok, Delbert Tesar
Proc. ASME. IDETC-CIE2015, Volume 3: 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices, V003T01A046, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47566
https://doi.org/10.1115/DETC2015-47566
View Paper titled, Visual Performance Maps for Human Choice in Hybrid Electric Vehicle’s In-Wheel Motors: Part II — Operation, Maintenance, and Refreshment Criteria
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Topics: Maintenance, Motors, Wheels, Braking, Asphalt, Roads, Tires, Weight (Mass), Durability, Hybrid electric vehicles
Proceedings Papers

Autonomous Robotic System for Pin Pulling Operation in Rail Yard

Andrew Boddiford, Dhiral Chheda, Chris Hammel, Pradeepkumar Ashok, Delbert Tesar
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A022, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47874
https://doi.org/10.1115/DETC2015-47874
View Paper titled, Autonomous Robotic System for Pin Pulling Operation in Rail Yard
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Topics: Rails, Robotics, Freight cars, Machinery, Sensors, End effectors, Engineering prototypes, Feedback, Force feedback, Hardware
Proceedings Papers

Visual Performance Maps for Human Choice in Hybrid Electric Vehicle’s In-Wheel Motors: Part I — Purchase Criteria

Hoon Lee, Pradeepkumar Ashok, Delbert Tesar
Proc. ASME. IDETC-CIE2015, Volume 3: 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices, V003T01A045, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47521
https://doi.org/10.1115/DETC2015-47521
View Paper titled, Visual Performance Maps for Human Choice in Hybrid Electric Vehicle’s In-Wheel Motors: Part I — Purchase Criteria
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Topics: Motors, Wheels, Maintenance, Vehicles, Hybrid electric vehicles
Journal Articles

Properties of Higher Order Instant Center: A Case Study of Classical Motions

Amit Kulkarni, Delbert Tesar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2013, 5(2): 024501.
Paper No: JMR-10-1148
https://doi.org/10.1115/1.4023555
Published Online: March 26, 2013
View Article titled, Properties of Higher Order Instant Center: A Case Study of Classical Motions
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Topics: Kinematics, Simulation
Proceedings Papers

An Analytical Stiffness Analysis Between Actuator Structure and Principal Bearings Used for Robot Actuators

Hoon Lee, Delbert Tesar
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1167-1176, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48030
https://doi.org/10.1115/DETC2011-48030
View Paper titled, An Analytical Stiffness Analysis Between Actuator Structure and Principal Bearings Used for Robot Actuators
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Topics: Actuators, Bearings, Robots, Stiffness, Shells, Weight (Mass), Design, Roller bearings, Stress, Tapered roller bearings
Journal Articles

Instant Center Based Kinematic Formulation for Planar Wheeled Platforms

Amit Kulkarni, Delbert Tesar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031015.
https://doi.org/10.1115/1.4001772
Published Online: July 27, 2010
View Article titled, Instant Center Based Kinematic Formulation for Planar Wheeled Platforms
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Topics: Algebra, Kinematics, Wheels, Manipulators, Path planning
Journal Articles

Parametric Design of Parallel Force/Velocity Actuators: Force Distribution Analysis

Dinesh Rabindran, Delbert Tesar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2010, 2(1): 011013.
https://doi.org/10.1115/1.4000526
Published Online: January 11, 2010
View Article titled, Parametric Design of Parallel Force/Velocity Actuators: Force Distribution Analysis
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Topics: Actuators, Design, Inertia (Mechanics), Motors, Stiffness, Stress, Torque, Engineering prototypes, Kinematics, Engines
Journal Articles

Effective Tool-Point Acceleration of Serial Chain Mechanisms Based on Basic Geometric Transformations

Oziel Rios, Delbert Tesar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2009, 1(4): 041004.
https://doi.org/10.1115/1.3204254
Published Online: September 17, 2009
View Article titled, Effective Tool-Point Acceleration of Serial Chain Mechanisms Based on Basic Geometric Transformations
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Topics: Actuators, Chain, Design, Inertia (Mechanics), Manipulators, Geometry
Proceedings Papers

Actuator Gain Distributions in Serial Robotic Manipulators to Meet Specified Task Requirements

Oziel Rios, Delbert Tesar
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 965-972, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49105
https://doi.org/10.1115/DETC2008-49105
View Paper titled, Actuator Gain Distributions in Serial Robotic Manipulators to Meet Specified Task Requirements
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Topics: Actuators, Manipulators, Design, Engines, Motors, Torque, Resolution (Optics), Stiffness, Stress, Deformation